Method and apparatus for untwisting a tether of a water powered vehicle

ABSTRACT

A float (1) suitable for use as a buoy or as a component for a wave-powered vehicle. The float (1) includes an upper member (12) whose height can be changed and/or which remained substantially vertical even when the float is in wave-bearing water. A low drag cable (2) suitable for use as a tether in a wave-powered vehicle has a streamlined cross-section and includes a tensile member (21) near the front of the cross-section, at least one non-load-bearing member (22) behind the tensile member, and a polymeric jacket (23). Wave-powered vehicles having a float (1), a submerged swimmer (3) and a tether (2) connecting the float and the swimmer, include a means for determining whether the tether is twisted; or a means (91) for untwisting the tether; or a pressure-sensitive connection (71, 72, 73) which can disconnect the tether when the vehicle is dragged downwards by entanglement with a whale; or a 2-axis universal joint securing the tether to the float or to the swimmer; or elastic elements which absorb snap loads created by the tether; or two or more of these.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a divisional of U.S. patent application Ser. No. 16/436,759, entitled “FLOAT FOR CONNECTION TO A SWIMMER IN A WAVE POWERED VEHICLE,” by Roger G. Hine et al, filed Jun. 10, 2019, which application is a divisional of U.S. patent application Ser. No. 15/785,246, entitled “Cable for Connecting a Float to a Swimmer in a Wave Powered Vehicle,” by Roger G. Hine et al, filed Oct. 16, 2017, issued as U.S. Pat. No. 10,315,746, which application is a continuation of U.S. patent application Ser. No. 14/172,860, entitled “Wave Power,” by Roger G. Hine et al, filed Feb. 4, 2014, now U.S. Pat. No. 9,789,944, which application is a continuation of U.S. patent application Ser. No. 12/449,753, entitled “Wave Power,” by Roger G. Hine, Derek L. Hine, Kurt A. F. Kiesow, William A. Stutz, and Graham Hine, filed Mar. 9, 2010 and now issued as U.S. Pat. No. 8,668,534, which is a U.S. national phase entry lodged Feb. 29, 2008, under 35 U.S.C. § 371 based on PCT Application No. PCT/US2008/002743, which claims priority from U.S. Provisional Patent Application No. 60/904,647, filed Mar. 2, 2007 for “Water Vehicle,” by Roger G. Hine, Derek L. Hine, Kurt A. F. Kiesow, William A. Stutz, and Graham Hine, all of which applications are hereby incorporated by reference herein.

This application is related to U.S. patent application Ser. No. 12/087,961, filed Feb. 2, 2009 for “Wave Power” (inventors Roger G. Hine, Derek L. Hine, Joseph D. Rizzi, Kurt A. F. Kiesow, Robert Burcham, and William A. Stutz), now U.S. Pat. No. 8,043,133, which is a national phase entry lodged Jul. 18, 2008, under 35 U.S.C. § 371 based on PCT Patent Application No. PCT/US2007/001139, filed Jan. 18, 2007 for “Wave Power” (inventors Roger G. Hine, Joseph D. Rizzi, Kurt A. F. Kiesow, Robert Burcham, and William A. Stutz).

PCT Patent Application No. PCT/US2007/001139 claims priority from the following U.S. patent applications:

-   -   U.S. Provisional Patent Application No. 60/841,834, filed Sep.         1, 2006 for “Water Vehicle”;     -   U.S. patent application Ser. No. 11/436,447, filed May 18, 2006         for “Wave Power,” now U.S. Pat. No. 7,371,136, which claims         priority from U.S. Provisional Patent Application No.         60/760,893, filed Jan. 20, 2006; and     -   U.S. Provisional Patent Application No. 60/760,893, filed Jan.         20, 2006 for “Wave Power.”

The entire disclosures of all the above mentioned applications are hereby incorporated by reference for all purposes.

BACKGROUND OF THE INVENTION

This invention relates to devices which are subject to waves in the water, and which in some cases utilize the power of waves in water.

As a wave travels along the surface of water, it produces vertical motion, but no net horizontal motion, of water. The amplitude of the vertical motion decreases logarithmically with depth; at a depth of about half the wave length, there is little vertical motion. The speed of currents induced by wind also decreases sharply with depth. A number of proposals have been made to utilize wave power to do useful work. Reference may be made, for example, to U.S. Pat. Nos. 986,627, 1,315,267, 2,520,804, 3,312,186, 3,453,981, 3,508,516, 3,845,733, 3,872,819, 3,928,967, 4,332,571, 4,371,347, 4,389,843, 4,598,547, 4,684,350, 4,842,560, 4,968,273, 5,084,630, 5,577,942, 6,099,368 and 6,561,856, U.S. Patent Publication Nos. 2003/0220027 and 2004/0102107, and International Publication Nos. WO 94/10029 and WO 87/04401. The entire disclosure of each of those patents and publications is incorporated herein by reference for all purposes.

SUMMARY OF THE INVENTION

This invention relates to devices which are subject to waves in the water, including but not limited to devices which utilize the power of waves in water, for example water vehicles which travel over the surface of the water when placed in wave-bearing water (i.e., water having waves moving across its surface). Such vehicles can for example comprise (1) a float, (2) a swimmer, and (3) a tether connecting the float and the swimmer; the float, swimmer and tether being such that, when the vehicle is in still water, (i) the float is on or near the surface of the water, (ii) the swimmer is submerged below the float, and (iii) the tether is under tension; and the swimmer, when the vehicle is in wave-bearing water, interacting with the water to generate forces which tend to move the float in a direction having a horizontal component (hereinafter referred to simply as “in a horizontal direction” or “horizontally”). In the interest of brevity, this specification refers to a water vehicle comprising a float, a swimmer and a tether as described in the previous sentence as a WPV. Preferred WPVs are described in the related applications incorporated by reference.

Summary of a First Preferred Aspect of the Invention

In a first preferred aspect, this invention provides a float which will float in water and which comprises (1) a body, (2) an upper member which is secured to the body and extends upwards from the body, and (3) means for controlling at least one of (a) the orientation of the upper member relative to the body and (b) the configuration of the upper member.

In a first embodiment of the float, (a) when the float is floating in still water, the upper member has a rest orientation relative to the water, and (b) when the float is floating in wave-bearing water, said means reduces (including substantially prevents) movement of the upper member away from the rest orientation.

In a second embodiment of the float (which can, but does not necessarily, have the features of first embodiment) the upper member has a height which can be changed (for example comprises components which can telescope into each other, and/or comprises one or more components which can fold and unfold).

Summary of the Second Preferred Aspect of the Invention

In a second preferred aspect, this invention provides a cable which

-   -   (a) has a cross-section which (i) has a chord length which is         0.5 to 3.0 inch, and (ii) comprises a leading edge portion and a         tapered trailing edge portion, the leading edge portion         including the part of the cross-section which has the greatest         width, the greatest width being 0.1 to 1.0 inch and at most 0.5         times the chord length of the cross-section, and     -   (b) comprises (1) an elongate tensile member which carries load         when the cable is under tension and which preferably passes         through the leading edge portion of the cable, and (2) at least         one additional elongate member which does not carry load when         the cable is under tension, and (3) a jacket which provides the         outer surface of the cable.

Summary of a Third Preferred Aspect of the Invention

In a third preferred aspect, this invention provides a WPV which comprises means for determining whether the tether is twisted.

Summary of a Fourth Preferred Aspect of the Invention

In a fourth preferred aspect, this invention provides a WPV which comprises means for untwisting the tether when the tether is twisted.

Summary of a Fifth Preferred Aspect of the Invention

In a fifth preferred aspect, this invention provides a WPV which comprises a pressure-sensitive connection which causes the tether to separate from float and/or from the swimmer, and/or causes the tether to break, when the water pressure substantially exceeds the water pressure under normal conditions of use. In this way, if the WPV becomes entangled with a whale or other sea creature, the WPV will be disentangled when the creature dives.

Summary of a Sixth Preferred Aspect of the Invention

In a sixth preferred aspect, this invention provides a WPV in which the tether is secured to the float and/or to the swimmer through a two-axis universal joint which pivots when the float/swimmer pitches or rolls but does not pivot when the float/swimmer yaws.

Summary of a Seventh Preferred Aspect of the Invention

In a seven preferred aspect, this invention provides a WPV wherein the tether is connected to the float or to the swimmer or to both through elastic elements which can absorb snap loads created when the tether is converted from a slack state to a load-bearing state.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention is illustrated in the accompanying drawings, which are diagrammatic in nature and not to scale, and in which

FIG. 1 is a diagrammatic illustration, not to scale, of a WPV incorporating the first preferred aspect of the invention;

FIGS. 2 and 3 are cross-sections through cables according to the second preferred aspect of the invention;

FIGS. 4 and 5 are perspective views of cables according to the second preferred aspect of the invention;

FIGS. 6 and 7 are cross-sectional and perspective views of a rotation coupling for use in the fourth preferred aspect of the invention;

FIG. 8 is a perspective view of a cable release mechanism for use in the fifth preferred aspect of the invention; and

FIGS. 9 and 10 are cross-sectional views of the mechanism of FIG. 8 in the closed and open positions.

DETAILED DESCRIPTION OF THE INVENTION

In the Summary of the Invention above, the Detailed Description of the Invention, the Examples, and the claims below, and the accompanying drawings, reference is made to particular features (including for example components, ingredients, elements, devices, apparatus, systems, groups, ranges, method steps, test results, etc.) of the invention. It is to be understood that the disclosure of the invention in this specification includes all possible combinations of such particular features. For example, where a particular feature is disclosed in the context of a particular aspect, a particular embodiment, a particular claim, or a particular Figure, that feature can also be used, to the extent appropriate, in the context of other particular aspects, embodiments, claims and Figures, and in the invention generally. The invention disclosed includes embodiments not specifically described herein and can for example make use of features which are not specifically described herein, but which provide functions which are the same, equivalent or similar to, features specifically disclosed herein.

The term “comprises” and grammatical equivalents thereof are used herein to mean that, in addition to the features specifically identified, other features are optionally present. For example, a composition or device “comprising” (or “which comprises”) components A, B and C can contain only components A, B and C, or can contain not only components A, B and C but also one or more other components. The term “consisting essentially of” and grammatical equivalents thereof is used herein to mean that, in addition to the features specifically identified, other features may be present which do not materially alter the claimed invention.

The term “at least” followed by a number is used herein to denote the start of a range beginning with that number (which may be a range having an upper limit or no upper limit, depending on the variable being defined). For example “at least 1” means 1 or more than 1, and “at least 80%” means 80% or more than 80%. The term “at most” followed by a number is used herein to denote the end of a range ending with that number (which may be a range having 1 or 0 as its lower limit, or a range having no lower limit, depending upon the variable being defined). For example, “at most 4” means 4 or less than 4, and “at most 40%” means 40% or less than 40%. When a range is given as “(a first number) to (a second number)” or “(a first number)−(a second number)”, this means a range whose lower limit is the first number and whose upper limit is the second number. For example, “from 8 to 20 carbon atoms” or “8-20 carbon atoms” means a range whose lower limit is 8 carbon atoms, and whose upper limit is 20 carbon atoms. The terms “plural”, “multiple”, “plurality” and “multiplicity” are used herein to denote two or more than two features.

Where reference is made herein to a method comprising two or more defined steps, the defined steps can be carried out in any order or simultaneously (except where the context excludes that possibility), and the method can optionally include one or more other steps which are carried out before any of the defined steps, between two of the defined steps, or after all the defined steps (except where the context excludes that possibility). Where reference is made herein to “first” and “second” features, this is generally done for identification purposes; unless the context requires otherwise, the first and second features can be the same or different, and reference to a first feature does not mean that a second feature is necessarily present (though it may be present).

Where reference is made herein to “a” or “an” feature, this includes the possibility that there are two or more such features (except where the context excludes that possibility). Where reference is made herein to two or more features, this includes the possibility that the two or more features are replaced by a lesser number or greater number of features providing the same function (except where the context excludes that possibility). The numbers given herein should be construed with the latitude appropriate to their context and expression; for example, each number is subject to variation which depends on the accuracy with which it can be measured by methods conventionally used by those skilled in the art.

This specification incorporates by reference all documents referred to herein and all documents filed concurrently with this specification or filed previously in connection with this application, including but not limited to such documents which are open to public inspection with this specification.

A. Detailed Description of the First Aspect of the Invention

In its first aspect, the invention provides a float which can be used for any purpose, including for example as a buoy (or part of a buoy) or as part of a WPV. The term “orientation” denotes the angular relationship between the body and the upper member. The term “configuration” denotes the dimensions (e.g., height and/or width) of the upper member, and includes the presence or absence of auxiliary members, e.g., sensors.

Referring now to the drawings, FIG. 1 shows a WPV incorporating the first aspect of the invention. The WPV is made up of a float 1, a tether or cable 2 and a swimmer 3. The float comprises a body 11 and a pole 12 which passes through the body 11 and is secured to it by a pivot joint. The pole 12 thus provides an upper member 121 and a lower member 122. Phantom lines show the outline of the float as it pitches as a result of wave motion. The pole 12, however, does not follow the pitching of the float. The swimmer is shown directly below the float, with the tether vertical. In practice, the swimmer will tend to be forward of the float, and if it is desired to keep the upper member vertical, the bottom member may angle forward from the upper member by an appropriate angle, for example about 5°.

The float can optionally have one or more of the following characteristics, denoted A1 . . . A7:

-   -   A1. (a) When the float is floating in still water, the upper         member has a rest orientation relative to the water; and (b)         when the float is floating in wave-bearing water, the         controlling means reduces movement of the upper member away from         the orientation position.     -   A2. (a) The upper member is secured to the body so that it can         be rotated relative to the body, e.g., by means of a pivot joint         which allows pitch motion and/or roll motion, or by a gimbal         joint such as a ball and socket (a pivot joint which allows only         pitch motion may be adequate when the float is relatively long         and narrow); and (b) the controlling means comprises a lower         member which (i) is secured to the body, (ii) extends downwards         from the body, (iii) is linked to the upper member, and (iv)         when the float is in wave-bearing water, causes rotation of the         upper member relative to the body when the float is in water and         is subject to wave motion.

A3. The lower member can for example have one or more of the following characteristics:

-   -   A3a It is secured to the upper member so that, when the float         pitches, the lower member reduces the movement of the upper         member away from the rest orientation. Alternatively or         additionally, it is secured to the upper member so that, when         the float rolls, the lower member reduces the movement of the         upper member away from the rest orientation; this feature is         particularly appropriate when the float has two or more hulls,         e.g., is a catamaran, in which case the upper member will         generally be placed between the hulls.     -   A3b It has a weight and/or moment of inertia which is         substantially greater than the weight and/or moment of inertia         of the upper member. For this purpose, a weight can optionally         be secured to the lower member, preferably at its lower end,         either directly or through a flexible cable. When the float as         part of a WPV and the tether is secured to the lower member, the         desired weight can be partly or completely supplied by the         weight of the tether and the swimmer.     -   A3c It is secured to the upper member so that the upper and         lower members form a single body (a “pole”). In one embodiment,         the pole passes through a hinge socket in the float body when         the float is floating in water, and can be pulled up through the         hinge socket for storage when the float is not floating in water         or for deployment. In another embodiment, the pole can be         secured to the float at two or more different levels so that the         height of the upper member can be increased, e.g., to place a         sensor at a desired high level (or decreased), and the length of         the lower member can be correspondingly decreased (or increased,         e.g., to lower the swimmer when the tether is attached to the         lower member, as may be desirable when the waves are large).     -   A3d When the float is in still water, it lies in a vertical         plane which includes the longitudinal axis of the body of the         float and/or is substantially vertical, or, when the float is         used as the float in a WPV, is inclined to the vertical towards         the forward end, for example at an angle of up to 12°, e.g.,         3-8°, e.g., about 5°, to the vertical.

A4. The upper member can optionally have one or more of the following characteristics:

-   -   A4a It has a height or other dimension which can be changed. For         example, the upper member can be telescopic (i.e., comprise two         or more units which slide relative to each other and thus change         a dimension of the upper member), and/or can comprise two or         more units which can fold and unfold and thus change a dimension         of the upper member. The float can include a motor to change a         dimension of the upper member. The float can include one or more         sensors which activate actuators to change a dimension of the         upper member, for example sensors (which may be on the upper         member) which sense the height of the waves, so that the height         of the upper member can be reduced as the height of the waves         increases, and vice versa. An advantage of an upper member whose         height or other dimension can be changed is that its wind         resistance can be minimized.     -   A4b It carries one or more accessories selected from the group         consisting of cameras, radio antenna, radio transmitters, radio         repeaters, meteorological sensors, carbon dioxide sensors, and         beacons, and sensors for sensing heat and gas flux between the         atmosphere and the ocean.     -   A4c It passes through or around the body of the float.     -   A4d When the float is in still water, it has an axis which lies         in a vertical plane including the longitudinal axis of the float         and/or is substantially vertical.     -   A4f It comprises one or more flexible portions so that it can         bend in overload situations.

A5. It is not associated with a lower member as described above, for example is fixed to the body of the float so that its orientation does not change when the float is in wave-bearing water, or makes use of a different mechanism to control its orientation.

-   -   A6. The float has a length of 2-30 feet, e.g., 5-15 feet, and a         width which is 0.1 to 0.6 times, e.g., 0.2 to 0.3 times, the         length of the float.     -   A7. The float is the float in a WPV as hereinbefore defined. In         such a WPV, the tether can be connected to the lower member,         preferably to the lowest point of the lower member, or to the         float body. The connection can for example be through a         universal joint.

Preferred embodiments of this aspect of the invention are particularly useful in supporting sensors and other equipment at a desirable and preferably relatively constant level above the water. For example, some embodiments of this aspect of the invention reduce (including in some cases, substantially eliminate) the swaying motion of an upper member which is fixed to a float in wave-bearing water. If desired, the upper member can be maintained in a substantially vertical position. Such swaying motion distorts wind measurements and reduces the efficacy of radio communications. Many of the instruments which are conventionally mounted on data buoys and data collection water vehicles operate best at relatively high levels above the surface of the water.

The standard height for reporting wind speed is 10 m above water level, but in prior art practice wind speeds are often measured at lower levels and then corrected. When measuring wind speeds using a float according to the present invention, the measurements are preferably taken at a level at least 1.5 m above the water, and can generally be taken at substantially higher levels; if desired, the wind speeds can be corrected to take account of information provided by sensors on the float which observe the height of the waves.

For line of sight radio communications, the greater the height of the transmitter and receiver, the greater the possible range. Preferred embodiments of the present invention make it possible to create a radio communications repeater network comprising a plurality of antenna-bearing WPVs which are separated by a substantial distance, for example 10-20 miles. The number and separation of WPVs can be chosen so that there is redundancy, so that the absence of one or a small number of the WPVs does not prevent the network from operating.

Camera observations are best taken at a level above the waves and spray.

For the measurement of air/sea heat flux (which is important to climate models and meteorological models) sensors that measure temperature or carbon dioxide concentration are placed at various heights above and below the surface of the water. It has been found that carbon dioxide flux can be characterized by positioning sensors at suitable heights, e.g., about 2 m and about 4 m, above the water surface. In one embodiment of the floats of the present invention, the upper member comprises carbon dioxide sensors placed at different heights, e.g., about 2 and about 4 m, above the water surface. The float can also include a carbon dioxide sensor below the surface of the water. When the float is part of a WPV, carbon dioxide sensors can also be placed on the swimmer and/or on the tether and/or on a towed array. The towed array can be a towfish which has buoyancy controls which enable it to sweep up-and-down from the surface to a depth of 30-100 m (or even more).

The invention disclosed herein includes not only a WPV which has an upper member as disclosed above and which is fitted with carbon dioxide sensors, but also any WPV which is fitted with carbon dioxide sensors as disclosed above.

The float can include sensors (e.g., accelerometers or rate sensors such as rate-sensitive GPS) which cause equipment on the upper member to operate only when the float is at or close to a wave crest.

Preferred embodiments of this aspect of the invention make it practical to use upper members having a height which is greater than is practical when using an upper member which is fixed to the float. For example, the upper member can optionally have a fixed height (or, if the upper member has an adjustable height, a maximum height) which is at least 0.5 times the length of the float, e.g., at least 0.8 times the length of the float, e.g., 0.8-3 times the length of the float or 1-2 times the length of float. Thus, the height can be at least 6 feet, or at least 10 feet, e.g., 6-15 feet, or even more when the height is adjustable, for example a height of 3-10 feet when fully collapsed, and a height of 10-30 feet when fully extended.

B. Detailed Description of the Second Preferred Aspect of the Invention.

The cables of the second preferred aspect of the invention are useful in a wide variety of situations in which it is useful to reduce the drag on a cable when the cable moves relative to water or other liquid in which it is immersed. In one such use, the cable is used as a tether in a WPV.

The cable can optionally have one or more of the following characteristics, denoted B1 . . . B17:

-   -   B1. It has a cross-section which has a chord length which is 0.8         to 1.5 inch.     -   B2. It has a greatest width which is at most 0.3 times the chord         length of the cross-section. B3. It has a cross-section which         includes a tapered trailing edge section.     -   B4. It has a relatively rounded leading edge and sharp trailing         edge such that the cross section is similar to a tear-drop or         airfoil shape.     -   B5. The jacket is composed of a polymeric composition e.g., a         composition which comprises an epoxy resin or a polyurethane.

B6. The jacket has been prepared by extruding or otherwise molding a polymeric composition around the tensile member(s) and the additional elongate member(s), preferably by a process which does not result in residual stresses in the jacket, for example by casting the composition around the elongate components, or which includes a step, after the jacket has been formed around the elongate components, in which any stresses in the jacket are reduced (including removed entirely).

-   -   B7. The jacket comprises additives which inhibit marine growth         and other fouling.     -   B8. The additional elongate member comprises one or more of         insulated electrical conductors, optical fibers and acoustic         cables, e.g., an insulated ribbon cable.     -   B9. The cable carries identification, e.g., visible markings,         which enable the cable to be inspected to determine whether it         is twisted, for example by a camera on the float body.     -   B10. The cable further comprises fins extending from the         insulating jacket at spaced-apart intervals; the fins can for         example be 1-5 in.² in area, and the distance between adjacent         fins can for example be 2-12 feet.

B11. The cable further comprises a second elongate tensile member which carries load when the cable is under tension and which passes through the leading edge portion of the cable.

-   -   B12. The elongate tensile member(s) is(are) surrounded by a tube         which enables the tensile member(s) to move independently of the         remainder of the cable, for example a tube composed of a         polymeric composition comprising a fluorinated polymer, e.g.,         polytetrafluoroethylene. When there is more than one tensile         member, there can be such a tube around each of the tensile         members, or a single tube around all the tensile members. This         expedient enables the tensile member(s) to stretch without         stretching the other elongate components, e.g., electrical         conductors. It also enables the remainder of the cable to rotate         around the tensile member(s) and feather into a reduced drag         orientation.     -   B13. The cable comprises a braided component which resists         twisting, e.g., a braided sleeve surrounding some or all of the         tensile member(s) and additional elongate member(s). The braided         component can for example be composed of a high-strength         polymeric material, e.g., Kevlar or another aramid polymer.     -   B14. The cable comprises a water-blocking component to prevent         any water which penetrates the jacket from traveling along the         cable.     -   B15. The tensile member is composed of stainless steel or a         high-strength polymeric material, e.g., an aromatic polyester         such as VECTRAN, for example in the form of multiple strands         twisted together. In some cases it is desirable to stretch the         tensile member under an appropriate load before it is made up         into the cable, to ensure that it does not undergo substantial         stretching in when it is used as a tether. The tensile member         may have a diameter of, for example, 0.1 to 0.3 inch.     -   B16. The cable is used as the tether in a WPV, the cable being         aligned so that its leading edge portion is oriented towards the         front of the WPV, and being connected to the body of the float         and to the swimmer so that the loads are carried by the tensile         member.     -   B17. The cable is used as the tether in a WPV and is attached to         the float and/or to the swimmer by a swivel joint that allows         the tether to rotate relative to the float and/or swimmer.

FIG. 2 is a cross-section through a cable according to the second preferred aspect of the invention, from the leading edge to the trailing edge 26. The cross section is to scale, and the chord length of the cross-section can for example be 0.8 to 1.5 inch. The cable comprises a tensile member 21, a ribbon cable 22 which is surrounded by a braided polymeric sleeve 221, and a streamlined polymeric jacket 23. The tensile member 21 can for example be a 0.09375 inch diameter 316 stainless steel wire rope, 7×7 construction. The ribbon cable 22 can for example comprise a plurality, e.g., 14, 22 AWG tinned copper wires each surrounded by fluorinated ethylene propylene (FEP) installation. The braided sleeve 221 can for example be composed of KEVLAR strands. The polymeric jacket 21 can for example be composed of a marine grade polyurethane having a Shore A 80 Durometer.

FIG. 3 is a cross-section through another cable according to the second preferred aspect of the invention. It is shown from the leading edge 25 to the trailing edge 26 The cross section is to scale, and the chord length of the cross-section can for example be 0.8 to 1.5 inch. The cable comprises a tensile member 21, a plurality, e.g., 8, of conductors 22, each surrounded by a braided stainless steel sleeve, and a streamlined polymeric jacket 23. The tensile member 21 and jacket 23 can for example be as described for FIG. 2 . Each of the conductors can for example be a 20 AWG tinned copper wire.

FIG. 4 is a perspective view of another cable according to the second preferred aspect of the invention. The cable comprises two tensile members 21, a ribbon cable 22, and a polymeric jacket 23. Particularly when the tensile member is liable to stretch significantly under load, for example when it is a synthetic fiber rope, e.g., composed of VECTRAN, preferably each of the tensile members is surrounded by a tube of a suitable polymeric material, e.g., polytetrafluoroethylene, so that it can stretch and rotate independently of the remainder of the cable.

FIG. 5 is a perspective view of another cable according to the second preferred aspect of the invention. The cable comprises two tensile members 21, two cables 22, each containing multiple individually insulated electrical conductors, a trailing edge member 24, a braided sleeve 221 which surrounds components 21, 22 and 24, and a polymeric jacket 23. The tensile members 21 can for example be as described above. Each of the cables 22 can for example comprise four individually insulated copper alloy conductors spiraled around a synthetic fiber rope, all surrounded by a further layer of insulation and/or a braided wire shield, e.g., of copper or stainless steel. The braided sleeve 221 can for example be composed of a metal or polymeric composition, e.g., Kevlar or nylon. The trailing edge member 24 can for example a metal or synthetic fiber rope; it does not carry load, but helps to maintain the structural integrity of the cable during handling and use.

C. Detailed Description of the Third Preferred Aspect of the Invention.

The third preferred aspect of the invention is concerned with WPVs which comprise means for determining whether the tether is twisted. It is possible to design a WPV which, under most operating conditions, will not cause the tether to become twisted. However, the tether may become twisted during deployment, or in very flat calm seas, or in very violent seas. A twisted tether creates undesirable drag. It is, therefore, desirable for the WPV to comprise means for determining whether the tether is twisted. Such WPVs can optionally have one or more of the following characteristics.

-   -   C1. The tether includes at least one identifier, e.g., markings         which can be identified by suitable equipment (e.g., each side         having a different color, or a stripe along one side only), and         the float or the swimmer or both comprise such suitable         equipment, e.g., a still or video camera mounted on the float or         the swimmer, which can inspect the identifier to determine         whether or not the tether is twisted, and communicate the         results of the inspection, e.g., via radio to an observer.     -   C2. The means for determining whether the tether is twisted         comprises at least two compasses which are placed at vertically         spaced-apart locations on the WPV. For example, one compass can         be placed on the float, another compass on the swimmer, and at         least one other compass somewhere along the tether (preferably         not at the midpoint of the tether). In another example, only two         compasses are used, one on the swimmer and the other on the         float, and the compasses are monitored on an ongoing basis to         keep track of the total amount of rotation relative to the         Earth's magnetic field. Each compass reports a rotation to a         controller, and the controller compares the two to determine if         twisting has occurred. This system has the benefit of using only         two compasses and placing them in locations where electronics         may already be present.     -   C3. The float and the swimmer include equipment which detects         and reports relative rotation of the float and the swimmer.     -   C4. The WPV can deliberately induce one or more twists, see how         the speed is affected, and then continue with the number of         twists which optimizes the speed, which can be assumed to be         when the tether is not twisted. If the WPV includes wave         characterization sensors, wind sensors, and water speed sensors         so that it can determine the expected speed under the observed         conditions, this procedure can be followed when the speed is         less than the expected speed.

D. Detailed Description of the Fourth Preferred Aspect of the Invention.

The fourth preferred aspect of the invention is concerned with WPVs which comprise means for untwisting the tether when the tether has become twisted. Such WPVs can optionally have one or more of the following characteristics.

-   -   D1. The means for untwisting the tether comprises a motor-driven         thruster on the float which can spin the float around and         untwist the tether.     -   D2. The means for untwisting the tether comprises a retractable         fin at the front of the float. The fin is normally retracted but         can be deployed to create drag at the front of the float; this         causes the float to rotate through 180°; the fin is then         retracted, and a fin at the rear of the float causes the float         to continue rotating through a further 180°.     -   D3. The means for untwisting the tether comprises a motor-driven         rotation coupling at the junction of the tether and the float,         or at the junction of the tether and the swimmer, or at an         intermediate point of the tether. If the tether includes         electrical wires, the rotation coupling preferably includes a         break in the wires, for example as may be achieved by a sliding         contact slip ring or a by device that does not maintain         electrical contact throughout the rotation but does so at one         point of each revolution. The motor driven rotation coupling may         comprise a geared electric motor that is either in line or         proximal to the rotation joint and is capable of rotating the         cable relative to the float or swimmer. When the motor is not         driven it may include a brake or other means to prevent the         rotation joint from moving, in order to reduce wear on sliding         electrical contacts.

FIG. 6 is a cross-sectional view, and FIG. 7 is a perspective view of a driven rotation coupling which can be used in the fourth preferred aspect of the invention. The Figures show a tether 2 which is terminated in a driven rotation coupling 6. The electrical conductors in the tether are connected to exiting electrical wires 100 through solder joints in electrical connection area 101 which is filled with potting compound (not shown) and a sliding contact slip ring 102. The tensile member in the tether is terminated at location 103. The coupling comprises a housing 61 and a gear motor 62 whose output is fixed to the housing 61 and whose body is fixed to a center post. The coupling comprises an output hollow shaft 63, a load carrying bearing 64, a plastic bushing and primary wiper 65, a primary seal 66 and a secondary seal 67.

E. Detailed Description of the Fifth Preferred Aspect of the Invention.

The fifth preferred aspect of the invention is concerned with WPVs which comprise a pressure-sensitive connection which is triggered by excessive water pressure. Such WPVs can optionally have one or more of the following characteristics.

-   -   E1. The pressure sensitive connection comprises a piston with a         radial seal inside a cylinder and encloses an air chamber. Air         pressure inside the chamber and a coil spring urge the piston to         extend. In the extended position the piston prevents a latch or         other mechanical element from allowing the cable to release.         Water pressure urges the piston to retract. In the retracted         position, the piston allows the latch or other mechanical         element to release.     -   E2. The pressure-sensitive connection is at the junction of the         float and the tether.     -   E3. The pressure-sensitive connection comprises an eye in the         tensile member of the tether, a pin which passes through the eye         and which is withdrawn from the eye by the release of a spring.     -   E4. The pressure-sensitive connection is triggered when it is at         a depth of 30 feet or more, for example at a depth of 50 feet or         more, or at a selected depth which is between 30 feet and 90         feet.

FIGS. 8-10 illustrate a pressure-sensitive connection for use in the fifth preferred aspect of the invention. The pressure-sensitive connection 7 is mounted on a baseplate 8 which is secured to the float. The connection comprises a pressure activated cylinder 71, a latch bar 72 and a hinge pin 73. The tensile member 21 of the tether is terminated with an eye and a pin. The latch bar 72 supports both the eye and the pin, and allows both to pull free when the pressure piston collapses the air chamber.

E. Detailed Description of the Sixth Preferred Aspect of the Invention.

The sixth preferred aspect of the invention is concerned with WPVs in which the tether is secured to the float and/or to the swimmer through a two-axis universal joint which pivots when the float/swimmer pitches or rolls but does not pivot when the float/swimmer yaws. This guides the tether to remain aligned with the float and thus reduces the tendency of the tether to twist. The universal joints may comprise two hinges at right angles to each other, with the tensile loads from the tether being transmitted through the hinges to the float or swimmer. Any electrical components of the tether are routed around or through the universal joint so that they do not see tensile loads and bend in a controlled manner consistent with their bending ability and fatigue strength.

G. Detailed Description of the Seventh Preferred Aspect of the Invention.

The seventh preferred aspect of the invention is concerned with WPVs in which the tether is connected to the float, or to the swimmer, or to both, through elastic elements which can absorb snap loads created when the tether is converted from a slack state to a load-bearing state. 

What is claimed is:
 1. A water powered vehicle, comprising: a float; a swimmer; a tether configured for tethering the float to the swimmer; means for determining if the tether is twisted; and means for untwisting the tether, comprising; at least one tether identifier; and at least one camera for inspecting the at least one tether identifier.
 2. The water powered vehicle of claim 1, wherein: the at least one camera is disposed on at least one of the float and the swimmer.
 3. The water powered vehicle of claim 2, wherein the at least one camera comprises a video camera or a still camera.
 4. The water powered vehicle of claim 1, wherein the tether identifier comprises: a marking on at least one side of the tether.
 5. The water powered vehicle of claim 4, wherein the marking is a stripe on one side of the tether.
 6. The water powered vehicle of claim 1, wherein the means for determining if the tether is twisted further comprises: a first compass on the float and a second compass on the swimmer.
 7. The water powered vehicle of claim 6, wherein: the first compass reports a first rotation to a controller; the second compass reports a second rotation to the controller; and the controller determines if the tether is twisted according to a comparison of the first rotation and the second rotation.
 8. The water powered vehicle of claim 7, further comprising: a third compass disposed along the tether; wherein the third compass reports a third rotation; and the controller determines if the tether is twisted according to the first rotation, the second rotation, and the third rotation.
 9. The water powered vehicle of claim 7, wherein the controller determines if the tether is twisted according to a comparison of the first rotation and the second rotation when a speed of the water powered vehicle is less than an expected speed of the water powered vehicle.
 10. The water powered vehicle of claim 1, wherein the means for untwisting the tether comprises: a first retractable fin disposed at a front of the float, the first retractable fin creating drag at the front of the float.
 11. The water powered vehicle of claim 10, wherein the means for untwisting the tether further comprises: a second retractable fin disposed at a rear of the float, the second retractable fin disposed after the first retractable fin causes the float to rotate through 180 degrees and is thereafter retracted.
 12. The water powered vehicle of claim 1, wherein the means for untwisting the tether comprises: a motor-driven rotational coupling disposed at a first junction of the tether and the float or a junction of the tether of the swimmer or at an intermediate point of the tether.
 13. The water powered vehicle of claim 12, wherein the tether includes: one or more electrical wires; and a rotational coupling.
 14. The water powered vehicle of claim 13, wherein: the rotational coupling comprises a sliding contact slip ring.
 15. The water powered vehicle of claim 14, wherein the rotational coupling maintains electrical contact only at one point of each revolution.
 16. The water powered vehicle of claim 12, wherein the motor-driven rotational coupling comprises: a geared electrical motor for rotating the tether relative to the float or swimmer.
 17. The water powered vehicle of claim 16, wherein: the tether includes a rotational coupling; and the motor further comprises brake to prevent motion of the rotational coupling.
 18. In a water powered vehicle comprising a float, a swimmer, and a tether configured to tether the float to the swimmer, a method of untwisting the tether, comprising: sensing that the tether is twisted, comprising at least one of: sensing a tether identifier on the tether; sensing a rotation of the float and a rotation of the swimmer; untwisting the tether, comprising at least one of; rotating the float; rotating a coupling disposed at at least one of a junction of: the tether and the swimmer; and the tether and the float.
 19. A water powered vehicle comprising: a float; a swimmer; a tether configured to tether the float to the swimmer; means for electromagnetically sensing that the tether is twisted; means for untwisting the tether, comprising one of: rotating the float; rotating a coupling disposed at at least one of: a junction of the tether and the swimmer; and a junction of the tether and the float.
 20. The water powered vehicle of claim 19, wherein the means for electromagnetically sensing that the tether is twisted comprises a compass or a camera. 